Generating a representation of an object of interest

ABSTRACT

A volumetric image of a space is acquired from an imaging system. The space includes an object of interest and another object, and the volumetric image includes data representing the object of interest and the other object. A two-dimensional radiograph of the space is acquired from the imaging system. The two-dimensional radiograph of the space includes data representing the object of interest and the other object. The two-dimensional radiograph and the volumetric image are compared at the imaging system. A two-dimensional image is generated based on the comparison. The generated two-dimensional image includes the object of interest and excludes the other object.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation U.S. patent application Ser. No.13/022,122, filed Feb. 7, 2011, now allowed, which is a continuation ofU.S. application Ser. No. 12/416,684, filed Apr. 1, 2009, now U.S. Pat.No. 7,885,380, which claims the benefit to U.S. Provisional ApplicationSer. No. 61/042,192, titled GENERATING IMAGES OF OBJECTS, and filed onApr. 3, 2008. All of these prior applications are incorporated herein byreference in their entirety.

TECHNICAL FIELD

This disclosure relates to techniques for generating a representation ofan object of interest.

BACKGROUND

A screening system that is designed to screen objects (e.g., packages,luggage, hand-carried items, and/or larger objects such as shippingcontainers and trucks) for the presence of explosives, hazardousmaterials, contraband, or other types of objects of interest may producea relatively low-resolution volumetric (e.g., three-dimensional) imageof a region. However, direct visualization and/or analysis of thevolumetric image may pose challenges in determining whether thevolumetric image includes a representation of an object of interest.

SUMMARY

In one general aspect, a high-resolution, two-dimensional image thatincludes an object of interest but not clutter objects is created from avolumetric image and a two-dimensional radiograph. The volumetric imageand the two-dimensional radiograph include representations of clutterobjects and the object of interest. The two-dimensional radiograph andthe volumetric image are both produced by a screening system that imagesthe clutter objects and the object of interest.

In another general aspect, a materials screening system includes a scanregion configured to receive an object, a source of radiation configuredto illuminate the scan region, and a sensor configured to senseradiation from the scan region. The system also includes a processor,and a computer-readable storage medium storing instructions forgenerating a two-dimensional image of the object of interest. Whenexecuted, the instructions cause the processor to generate a volumetricimage of the scan region based on the sensed radiation, the volumetricimage including a representation of an object of interest and anotherobject, to generate a two-dimensional radiograph of the scan regionbased on the sensed radiation, the two-dimensional radiograph includinga representation of the object of interest and the other object, and toanalyze the volumetric image to identify the object of interest or theother object. Based on the analyzed volumetric image, a two-dimensionalimage that excludes the object of interest is generated. Thetwo-dimensional radiograph and the two-dimensional image that excludesthe identified object of interest are compared and a two-dimensionalimage based on the comparison is generated. The generatedtwo-dimensional image includes the object of interest and excludes theother object.

Implementations may include one or more of the following features. Thesource may be configured to produce x-ray radiation, and the sensor maybe configured to sense x-ray radiation. The volumetric image may beanalyzed to identify the object of interest, and the identified objectof interest may be removed from the volumetric image to generate ade-objectified volumetric image. Generating a two-dimensional image thatexcludes the object of interest may include forward-projecting thede-objectified volumetric image. The instructions to cause the processorto compare the two-dimensional radiograph and the two-dimensional imagethat excludes the identified object of interest may include instructionsto cause the processor to subtract the two-dimensional radiograph fromthe two-dimensional image. The system also may include a display module.

In another general aspect, an apparatus for generating images of anobject of interest includes a source of radiation configured to emitradiation that illuminates a space and interacts with an object ofinterest in the space and another object in the space. The apparatusalso includes a sensor configured to sense radiation from the space, aprocessor, and a computer-readable storage medium storing instructionsfor generating a two-dimensional image of the object of interest, theinstructions, when executed, causing the processor to acquire senseddata from the sensor to generate a two-dimensional radiograph of thespace. The two-dimensional radiograph includes a representation of theobject of interest and a representation the other object. Sensed data isacquired from the sensor to generate a volumetric image of the space,the volumetric image being of lower spatial resolution than thetwo-dimensional radiograph, and the volumetric image including arepresentation of the object of interest and a representation of theother object. A two-dimensional image is generated from thetwo-dimensional radiograph and the volumetric image. The two-dimensionalimage includes the object of interest and excludes the other object.

Implementations may include one or more of the following features. Thesource of radiation may be a source of x-ray radiation, and the sensorconfigured to sense radiation may include a detector configured to sensex-ray radiation passing through the object of interest and the otherobject. The space may be a cavity in a screening apparatus that isconfigured to image an object in the cavity. The space may be an openregion that is illuminated by the source of radiation.

In another general aspect, a volumetric image of a space is acquiredfrom an imaging system. The space includes an object of interest andanother object, and the volumetric image includes data representing theobject of interest and the other object. A two-dimensional radiograph ofthe space is acquired from the imaging system. The two-dimensionalradiograph of the space includes data representing the object ofinterest and the other object. The two-dimensional radiograph and thevolumetric image are compared at the imaging system. A two-dimensionalimage is generated based on the comparison. The generatedtwo-dimensional image includes the object of interest and excludes theother object.

Implementations may include one or more of the following features. Thegenerated two-dimensional image may be presented. The object of interestmay be identified in the volumetric image, and a de-objectified imagemay be generated by removing the object of interest from the volumetricimage. Comparing the two-dimensional radiograph and the volumetric imagemay be achieved by comparing the de-objectified image to thetwo-dimensional radiograph. The de-objectified image may be atwo-dimensional image that excludes the object of interest, andcomparing the two-dimensional radiograph and the volumetric image mayinclude subtracting the de-objectified image from the two-dimensionalradiograph. The de-objectified two-dimensional image and the acquiredtwo-dimensional radiograph may be registered with each other prior tosubtracting the de-objectified two-dimensional image from the acquiredtwo-dimensional radiograph. The de-objectified two-dimensional image maybe filtered. The identified object of interest may be represented in thevolumetric image by one or more voxels, and removing the identifiedobject of interest from the volumetric image may include setting the oneor more voxels equal to zero.

In some implementations, the acquired two-dimensional radiograph mayhave a higher spatial resolution than the acquired volumetric image. Atleast a portion of the object of interest may obscure at least a portionof the other object in the acquired two-dimensional radiograph.Two-dimensional radiographs may be repeatedly acquired and each of thetwo-dimensional radiographs may be compared to the volumetric image.

Implementations of any of the techniques described above may include amethod, a process, a system, a device, an apparatus, or instructionsstored on a computer-readable storage medium. The details of one or moreimplementations are set forth in the accompanying drawings and thedescription below. Other features will be apparent from the descriptionand drawings, and from the claims.

DESCRIPTION OF THE DRAWINGS

FIG. 1A illustrates an example of a screening system.

FIG. 1B illustrates a side-view of the example screening system of FIG.1A.

FIG. 2 illustrates a block diagram of a screening system.

FIG. 3 illustrates a process for generating a two-dimensionalrepresentation of an object of interest.

FIG. 4 shows an illustration of volumetric images and two-dimensionalimages used to generate a two-dimensional representation of an object ofinterest.

DETAILED DESCRIPTION

Referring to FIG. 1A, an example system 100 for detecting the presenceof objects of interest such as explosives, hazardous materials,controlled substances (e.g., illegal drugs and narcotics), or contrabandin containers 102, 104, and 106 is illustrated. The system 100 may bereferred to as a materials screening system, and the system 100 includesa screening device 101 that produces a two-dimensional image of anobject of interest without clutter objects. The system 100 may be usedto process, image, and/or analyze a large volume of containers at, forexample, a civilian, military, or commercial airport, a rail station, abus terminal, a seaport, a public gathering place, or a bordercheckpoint.

As discussed in more detail below, the screening device 101 produces atwo-dimensional image of an object of interest without clutter from avolumetric (e.g., three-dimensional) image 108 and a two-dimensionalradiograph 109. The volumetric image 108 and the two-dimensionalradiograph 109 each include representations of objects that are in ascan region 112 of the screening device 101. The scan region 112 mayinclude objects of interest and objects that are not of interest (e.g.,clutter objects). Thus, the volumetric image 108 and the two-dimensionalradiograph 108 may include representations of the object of interest andclutter objects. However, using the techniques discussed below, thevolumetric image 108 and the two-dimensional radiograph 109 may be usedto produce a two-dimensional image that only includes the object ofinterest. This two-dimensional image of the object of interest may bepresented to an operator of the system 100 and/or provided to anautomated process for further analysis.

As compared to techniques that rely on direct viewing and/or automatedprocessing of the volumetric image 108 (either with or without theclutter objects present), viewing or processing a two-dimensional imagethat includes only the object of interest, may result in improvedperformance due to easier viewing of the object of interest. Forexample, the generated two-dimensional image does not includeoverlapping objects, whereas the volumetric image 108 and thetwo-dimensional radiograph 109 usually do include overlapping objects.Thus, the generated two-dimensional image may be easier to view andunderstand as compared to the two-dimensional radiograph 109 or thevolumetric image 108. Additionally, in some implementations, thegenerated two-dimensional image is a relatively high spatial resolutionimage as compared to the volumetric image 108, and the generatedtwo-dimensional image may provide a better representation of the regionimaged. In these implementations, the generated two-dimensional image iscreated from the two-dimensional radiograph 109, which has a higherspatial resolution than the volumetric image 108. For example, thevolumetric image 108 may include voxels that represent a cubic spacethat is 3.5 to 5 millimeters on a side. The two-dimensional radiograph109 may be an image that includes pixels that represent a square spacethat is 0.5 to 1.0 millimeters on a side, for example.

As discussed in greater detail with respect to FIGS. 3 and 4, togenerate the two-dimensional image of the object of interest, the objectof interest may be identified in the volumetric image 108 and removedfrom the volumetric image 108. Identifying the object of interest alsoallows the clutter objects to be identified because the clutter in thevolumetric image 108 may be the other portions of the volumetric image108 besides those that include the identified object of interest.Objects other than the object of interest (e.g., clutter objects) areidentified in the volumetric image 108 and removed from thetwo-dimensional radiograph 109 to produce a high-resolutiontwo-dimensional image that includes the object of interest but not theclutter objects. The clutter objects may be removed from thetwo-dimensional radiograph 109 by, for example, subtracting the clutterobjects from the two-dimensional radiograph 109.

In greater detail, in the example shown in FIG. 1A, the system 100includes a screening device 101 that images the containers 102, 104, and106 while the containers 102, 104, and 106 are present in the scanregion 112. The containers 102, 104, and 106 may be present in the scanregion 112 as the containers pass through the scan region 112 on aconveyor belt 119, or the containers 102, 104, and 106 may be stationaryin the scan region 112. In the example shown in FIG. 1A, the containers102, 104, and 106 enter the scan region 112 at an entrance 115. Theentrance 115 may be covered by a removable door or other type of cover(not shown).

Thus, the scan region 112 may be considered to be a volumetric region orspace that is configured to receive objects that are imaged by thescreening device 101. The scan region 112 may be imaged by, for example,illuminating the scan region 112 with radiation from a radiation source120. In some implementations, the source 120 is an x-ray source thatilluminates the scan region, and any objects in the scan region, withx-ray radiation. In these implementations, the scan region 112 may beimaged by sensing the x-ray radiation that passes through the scanregion and any objects present in the scan region, at a sensor 125, andgenerating both the volumetric image 108 and the two-dimensionalradiograph 109 from the sensed radiation.

The volumetric image 108 may be, for example, a three-dimensionalcomputed tomography image that is produced from a full volumetricreconstruction of the data collected by the sensor 125. Thetwo-dimensional radiograph 109 may be an x-ray projection of a portionof the scan region 112 or the entire scan region 112. As discussedabove, the two-dimensional radiograph 109 may have a higher spatialresolution than the volumetric image 108. The volumetric image 108 is arepresentation of the scan region 112 and objects within the scan region112, and the two-dimensional radiograph 109 is a two-dimensional imageof the scan region 112.

Referring to FIG. 1B, a side view of the screening device 101 is shown.The screening device 101 includes the radiation source 120, which may bean x-ray source, a first detector 160 and a second detector 165. Thescreening device 101 also may include a collimator 167 and a filter 169.The radiation source 120, the first detector 160, the second detector165, the collimator 167, and the filter 169 are outside of the scanregion 112, and the suitcase 104 is within the scan region 112.

In some implementations, the radiation source 120 exposes an object ofinterest that is inside the scan region 112, such as the suitcase 104,to x-ray radiation of at least two energy levels. The x-rays may becollimated by the collimator 167, which may be made of lead or anothermaterial of sufficient thickness to block the x-rays. The collimatedx-rays pass through the suitcase 104, are attenuated by the suitcase 104and the contents of the suitcase 104, and the attenuated x-rays aresensed by the first detector 160. The first detector 160 may be, forexample, a scintillator, and the some or all of the attenuated x-raysmay pass through the first detector 160. The filter 169 may be placed infront of the second detector 165 such that only x-rays having energiesbelow a cut-off energy of the filter 169 reach the second detector 165.The filter 169 may be made from a metal material such as, for example,copper. The arrangement of the first and second detectors shown in theexample of FIG. 1B may be referred to as a front-to-back configuration.In a front-to-back configuration, the detectors 160 and 165 image thesame area of the scan region 112, thus data collected by the detectors160 and 165 generally is aligned at the time of detection withoutfurther correction. In some implementations, the first detector 160 andthe second detector 165 may be placed next to each other in aside-by-side configuration. In some implementations, the screeningdevice 101 may include just one detector.

Thus, the first and second detectors 160 and 165 sense attenuated x-raysthat pass through the suitcase 106. The sensed x-rays are used togenerate the volumetric image 108 and the two-dimensional image 109 ofthe scan region 112 and the contents of the scan region 112.

Returning to FIG. 1A, an image generation module 135 processes thevolumetric image 108 and the two-dimensional image 109 (both of whichinclude the object of interest and clutter to produce a two-dimensionalimage that only includes the object of interest. The two-dimensionalimage of the object of interest may be presented at an operator station140 at a display 142. In the example shown in FIG. 1A, an alarm 144 maybe triggered based on the presence of the explosive 152.

Although in the example shown in FIG. 1A, the system 100 detects thepresence of objects of interest in containers that are used in relationto commerce and/or transportation, in other examples, the techniquesdiscussed below may be used to detect the presence of objects ofinterest in other contexts. For example, the techniques discussed belowmay be used in medical imaging applications to determine whether, forexample, biological tissues of a human patient or a tissue sample arediseased or healthy, or to image hard structures such as bones in thepatient. Referring to FIG. 2, a block diagram of an example screeningsystem 200 is shown. The system 200 includes a screening apparatus 210and an analysis station 250 that displays two-dimensional image data ofan object of interest received from the screening apparatus 210. Thesystem 200 may be similar to the system 100 discussed with respect toFIGS. 1A and 1B.

The screening apparatus 210 may be used to screen objects to determinewhether the object includes items of interest. The screening apparatus210 includes a scan region 215 that is configured to receive an object(such as a container or a human patient) to be imaged with the screeningapparatus 210. The screening apparatus 210 also includes an imagingsystem 220, an image generation module 230, a processor 240, aninput/output device 242, and an electronic storage 245. The screeningapparatus 210 generates a two-dimensional image that includes only arepresentation of an object of interest from a volumetric image and atwo-dimensional radiograph, each of which include representations of theobject of interest and clutter objects.

The scan region 215 is appropriately sized depending on the types ofobjects to be screened. For example, the scan region 215 may be largeenough to receive a suitcase or other hand-transportable luggage item.The scan region 215 may accommodate a truck or shipping container. Inother examples, the scan region 215 may be sized to accommodate a humanpatient. The scan region 215 may pass through the screening apparatus215, or the scan region 215 may be open at just one end of the screeningapparatus 215.

The screening apparatus 210 also includes the imaging system 220, whichincludes a source 222 and a sensing module 224. The imaging system 220images the inside of the scan region 215 and the objects within the scanregion 215 to produce a volumetric image 226 of the scan region 215 andthe objects inside of the scan region 215. The imaging system 220 alsoproduces a two-dimensional image 228 of the scan region 215. The source222 may be a source that emits x-rays, and the source 222 may be similarto the radiation source 120 discussed above with respect to FIG. 1B. Thesensing module 224 includes detectors that sense radiation produced bythe source 222.

The image generation module 230 generates a two dimensional image of anobject of interest from the volumetric image of the scan region 215 anda two-dimensional radiograph of the scan region 215. The screeningapparatus 210 also includes the processor 240, the input/output device242, and the storage 245. The storage 245 stores instructions that, whenexecuted by the processor 240, cause the image generation module 230 toperform operations such as identifying an object of interest in thevolumetric image 108. The storage 245 also may store data sensed by thesensing module 224, instructions for retrieving the data from thesensing module 224, and instructions for generating a volumetric imagebased on the data from the sensing module 224. The storage 245 is anelectronic memory module, and the storage 245 may be a non-volatile orpersistent memory. The storage 245 may be volatile memory, such as RAM.In some implementations, the storage 245 may include both non-volatileand volatile portions or components.

The processor 240 may be a processor suitable for the execution of acomputer program such as a general or special purpose microprocessor,and any one or more processors of any kind of digital computer.Generally, a processor receives instructions and data from a read-onlymemory or a random access memory or both. The processor 240 receivesinstruction and data from the components of the screening apparatus 210,such as, for example, the imaging system 220 and/or the image generationmodule 230, to, for example, analyze data from the imaging system 220 togenerate a two-dimensional image that includes only a representation ofthe object of interest but not clutter objects. In some implementations,the screening apparatus 210 includes more than one processor.

The input/output device 242 may be any device able to transmit data to,and receive data from, the screening apparatus 210. For example, theinput/output device 242 may be a mouse, a touch screen, a stylus, akeyboard, or any other device that enables a user to interact with thescreening apparatus 210. In some implementations, the input/outputdevice 242 may be configured to receive an input from an automatedprocess or a machine or to provide an output to an automated process ora machine.

The system 200 also includes the analysis station 250. The analysisstation 250 includes an input module 260, an interface generation module270, an image interaction and retrieval module 270, a processor 280, andan input/output device 290. The analysis station 250 may be similar tothe operator station 140 discussed above with respect to FIG. 1A. Theinput module 260 receives the two-dimensional image of the object ofinterest from the screening apparatus 210 or the image generation module230. The two-dimensional image may be transferred over a wireless orwired network connection. The interface generation module 270 displaysthe two-dimensional image that includes a representation of the objectof interest but not the clutter objects on a display such as the display142 discussed above with respect to FIG. 1A. The analysis station alsoincludes an image interaction and retrieval module 265 that allowsinteraction with the displayed image. For example, the image interactionand retrieval module 265 may allow an operator to zoom in on an area ofinterest in the two-dimensional image.

The analysis station 250 also includes a processor 270 and aninput/output device 280. The processor 270 executes instructions thatcause the interface generation module 260 to generate and display theinterface and process commands received from the input/output device280. The input/output device 280 may be any device that allows a user tointeract with the analysis station 250. For example, the input/outputdevice 280 may be a mouse, a keyboard, or a touch screen. Although inthe example of FIG. 2, the analysis station 250 and the screeningapparatus 210 are shown as separate components that are in communicationwith each other, this is not necessarily the case. In someimplementations, the analysis station 250 is integrated into thescreening apparatus 210.

In one implementation, the screening apparatus 210 is a continuous imagereconstruction system in which the source 222 continuously producesradiation and exposes the scan region 215 to the radiation, and thesensing module 224 continuously senses radiation from the source 222.The imaging system 220 produces volumetric image of the scan region 215based on the radiation sensed by the sensing module 224. Thus,implementations in which the screening apparatus 210 is a continuousimage reconstruction system, the volumetric image 226 and thetwo-dimensional radiograph 228 of the scan region 215 are generatedregardless of whether the scan region 215 includes an object.

In a second implementation, the screening apparatus 210 is anon-continuous image reconstruction system. In this implementation, thescreening apparatus 210 also includes photocells (not shown) that detectthe presence of a container in the scan region 215, and the presence ofa container triggers the source 222 to produce radiation, the sensingmodule 224 senses radiation passing through the container, and theimaging system 220 generates the volumetric image 226 and thetwo-dimensional radiograph 228 from the radiation sensed by the sensingmodule 224. Thus, in implementations in which the screening apparatus210 is a non-continuous image reconstruction system, the volumetricimage 228 and the two-dimensional radiograph are only created when anobject is present in the scan region 215.

Referring to FIGS. 3 and 4, an example process 300 that usesthree-dimensional data and two-dimensional data to generate ahigh-resolution, two-dimensional image of an object of interest isillustrated. The process 300 may be performed by one or more processorsincluded in a screening system such as the system 100 or the system 200discussed above with respect to FIGS. 1A, 1B, and 2. The two-dimensionalimage generated by the process 300 includes a representation of anobject of interest but does not include a representation of clutterobjects.

A volumetric image 405 and a two-dimensional image 410 are acquired fromthe screening system (310). The volumetric image 405 and thetwo-dimensional radiograph 410 may be generated from sensed radiation asdiscussed above with respect to FIGS. 1A, 1B, and 2. Referring also toFIG. 4, the volumetric image 405 is a three-dimensional representationof a bag that is in the scan region 215 of the screening system, and thetwo-dimensional image 410 is a two-dimensional representation of theobjects within the bag. The volumetric image 405 may be voxelized to thevolumetric image 420, in which the geometric objects 405A-405Drepresented in the volumetric image 405 are converted into voxelrepresentations (e.g., the objects 405A-405D are voxelized). A voxel isa cubic unit of volume that represents a unit of volume, and a voxel maybe regarded as the counterpart to a pixel that represents a unit of areain a two-dimensional image. The volumetric image 420 may be referred toas the voxelized reconstruction of the volumetric image 405.

The bag that is imaged in the example shown in FIG. 4 includes fourobjects, a ball 405A, a phone 405B, a personal digital assistant (PDA)405C, and a plush toy 405D. In this example, the ball 405A is the objectof interest, and the phone 405B, the PDA 405C, and the plush toy 405Dare considered clutter objects. In other examples, there may be morethan one object of interest and more or fewer clutter objects. As shownin FIG. 4, the volumetric image 405 and the voxelized reconstruction 410include perspective information regarding the relative placement of theobjects 405A-405D in the bag. For example, the PDA 405C is in front ofand slightly lower than the ball 405A, and the phone 405B is above andto the left of the PDA 405C.

In the two-dimensional radiograph 410, the objects 405A-405D overlap. Incontrast to the volumetric image 405 and the voxelized reconstruction420, the two-dimensional radiograph 410 does not show depth information.Thus, in the two-dimensional radiograph 410, the phone 405B appears tooverlap the ball 405A, and the ball 405A appears to overlap the PDA405C. However, although the two-dimensional radiograph 410 does not showthe relative placement of the objects in the bag, the two-dimensionalradiograph 410 may be a higher spatial resolution image than thevolumetric image 405. In other words, a pixel of the two-dimensionalradiograph 410 may represent a smaller physical area than the voxel ofthe voxelized reconstruction 420. Thus, when displayed, thetwo-dimensional radiograph 410 may appear sharper and more detailed to ahuman operator as compared to a direct display of the voxelizedreconstruction 420. Similarly, when processed by an automated process,the two-dimensional radiograph 410 may provide more information, in somerespects, than the voxelized reconstruction 420. As discussed below,using the information in the voxelized reconstruction 420, the clutterobjects 405B-405D may be removed from the radiograph 410 to produce atwo-dimensional image 450 of the entire ball 405A (e.g., the object ofinterest) without the objects 405B-405D (e.g., the clutter objects). Theportions of the ball 405A that are obscured by the phone 405A in theradiograph 410 become visible in the two-dimensional image 450 after theclutter objects 405B-405D are removed from the radiograph 410 becausethe representation in the radiograph 410 includes a summation ofradiation from the ball 405A and the phone 405A. Thus, when the portionthat represents the phone 405A is removed, only the ball 405A remains inthe image 450.

The object of interest (e.g., the ball 405A), is identified in thevoxelized reconstruction 420 (320). The object of interest may beidentified using a variety of analysis techniques. For example, objectsof interest may be known to be round, and an edge detector followed by afilter to detect objects having round outlines may be applied to thevolumetric image 405 to find round objects.

Additionally or alternatively, material characteristics of the objectsin the volumetric image 405 may be used to identify possible objects ofinterest. For example, in some security applications, high-densitymaterials (such as lead and metal) are more likely to be objects ofinterest than low-density materials (such as cloth). In the exampleshown in FIG. 4, the volumetric image 405 includes voxels representingthe bag and the objects 405A-405D within the bag. The volumetric image405 may be created by sensing x-ray radiation that passed through thebag to a detector. Thus, although the volumetric image 405 includes datathat represents the entire bag, only high-density materials are visiblein the volumetric image 405. Because the voxels representing thehigh-density materials are the voxels that most useful for determiningwhether the bag includes items of interest, the voxels representing thelow-density materials may be disregarded as clutter objects and thevoxels representing high-density materials may be associated with anobject of interest. Specifically, the volumetric image may be a computedtomography (CT) image that includes voxels that represent an imagedobject (such as the ball 405A, the phone 405B, the PDC 405C, and theplush toy 405D). The voxels are each associated with a value thatapproximately corresponds to the average atomic weight of the imagedobject. The voxel values may be represented as CT values. The CT valuesmay be expressed in Hounsfield units, and the voxel values may be avalue relative to a value that represents an amount of energy passingthrough a known volume of water and sensed by an x-ray detector. Itemsof interest from an explosives-detection (and the detection of othercontraband items) perspective tend to have a higher density and a higheratomic number as compared to items not of interest (such as air andclothing). Thus, because items of interest tend to be high-densitymaterials, a range of values known to be associated with high-densitymaterials may be determined. Voxels having values within the range ofvalues, or above a value are voxels that may represent items ofinterest. In contrast, low-density items, such as a cloth, may berepresented by voxels that have values below the range of values knownto be values of voxels that represent high-density materials.Additionally, the values of the voxels of low-density items such ascloth and air tend to be much less than the values of voxels thatrepresent high-density items of interest. Although items of interest maybe higher-density items, in some examples the items of interest may havea low-density than background voxels. In these implementations, voxelshaving a range of values below the range of values are voxels thatrepresent items of interest.

Thus, the object of interest may be identified within the voxelizedreconstruction 420. Additionally, because the portions or regions of thevoxelized reconstruction 420 other than those that include the object ofinterest may be considered clutter, the clutter objects and regions arealso identified.

Referring to FIG. 3, a localized region of the voxelized reconstruction420 that includes the identified object of interest is removed to createa de-objectified volumetric image 430 (330). The localized region of thevoxelized reconstruction 420 may include the identified object ofinterest and voxels in the neighborhood of the identified object ofinterest. The neighborhood of the identified object of interest may be,for example, voxels within a boundary between the identified object ofinterest or voxels just outside of the boundary of the identified objectof interest. In some implementations, the neighborhood may include allvoxels that fall within a region defined by the maximum and minimumspatial coordinates of the identified object of interest. In thisexample, the region may be approximated by, for example, a circle,ellipse, or rectangle defined by the coordinates. In someimplementations, the neighborhood may include voxels that are adjacentto voxels that form a boundary of the identified object of interestand/or voxels that are connected to the identified object of interest.

The de-objectified volumetric image 430 is created by removing theidentified object of interest (any the localized volume that includesthe identified object of interest) from the voxelized reconstruction420. The identified object of interest may be removed by, for example,setting the voxels that make up the localized region that includes theobject of interest to zero. Thus, the identified object of interest (theball 405A in this example) is not represented in the de-objectifiedvolumetric image 430, but the clutter objects (the phone 405B, the PDA405C, and the plush toy 405D) are represented in the de-objectifiedvolumetric image.

The de-objectified volumetric image 430 is forward projected to create atwo-dimensional de-objectified image 440 (340). Forward projectionrefers to the projection of the data in the voxelized reconstruction 420onto a two-dimensional projection space. The forward projection of thevoxelized reconstruction 420 may be considered to be the two-dimensionalimage that is perceived when viewing the voxelized reconstruction 420 ona two-dimensional display. Thus, the de-objectified volumetric image isa two-dimensional image that includes representations of the clutterobjects 405B-405D, but does not include a representation of the objectof interest 405A (e.g., the ball).

The de-objectified two-dimensional image 440 and the acquiredtwo-dimensional radiograph 410 are compared (350) such that the clutterobjects are removed from the acquired two-dimensional radiograph 410.Comparing the de-objectified two-dimensional image 440 and thetwo-dimensional radiograph 410 may include subtracting thede-objectified two-dimensional image 440 from the two-dimensionalradiograph 410 (or visa versa). As shown in FIG. 4, the de-objectifiedtwo-dimensional image 440 includes the phone 405B, the PDA 405C, and theplush toy 405D (the clutter objects) but not the ball 405A (the objectof interest). Thus, subtracting the de-objectified two-dimensional image440 from the two-dimensional radiograph 410 results in the clutterobjects being removed from the two-dimensional radiograph 410. Prior tosubtracting or otherwise comparing the de-objectified two-dimensionalimage 440 and the acquired two-dimensional radiograph 410, thede-objectified two-dimensional image 440 and the two-dimensionalradiograph 410 are registered such that the clutter objects and theobject of interest align in the two images.

In some implementations, instead of identifying the object of interest,the clutter objects and/or clutter regions may be identified in thevoxelized reconstruction. The identified clutter objects or clutterregions may be forward-projected and removed from the two-dimensionalradiograph.

In some implementations, the two-dimensional radiograph 410 may beprocessed before the removal of the clutter objects 405B-405D. Forexample, a low-pass filter may be applied to everything outside of theboundaries of the object of interest. Thus, the low-pass filter is notapplied to the object of interest, but the filter is applied to theclutter objects. Application of the low-pass filter may help to reduceor eliminate the occurrence of high-frequency “ghosts” that mayotherwise appear in the two-dimensional radiograph. In someimplementations, in addition to, or instead of, processing thetwo-dimensional radiograph 410 with the low-pass filter, thede-objectified image 440 may be processed with the low-pass filter.

A two-dimensional image 450 of the object of interest is generated basedon the comparison (360). As shown in FIG. 4, the two-dimensional image450 includes a ball 405A (e.g., the object of interest), but not thephone 405B, the PDA 405C, or the plush toy 405D (e.g., the clutterobjects). In some implementations, the two-dimensional image 450 is thetwo-dimensional radiograph 410 with the clutter objects removed. In someimplementations, the two-dimensional image 450 is a separate image thatis generated from the two-dimensional image 410. Thus, ahigh-resolution, two-dimensional image that includes a representation ofthe object of interest without the clutter objects is generated.

In some implementations, low-resolution, two-dimensional radiographsthat include only the object of interest may be created instead ofhigh-resolution two-dimensional radiographs. In these implementations,the volumetric neighborhood of the object of interest identified in(320, 330) discussed above is forward projected to create atwo-dimensional image of the object of interest. Because the voxels inthe volumetric neighborhood are from the relatively low-resolutionvoxelized image 420, this technique tends to produce an image withpixels that represent a larger area than the pixels of thetwo-dimensional radiograph 410. Thus, this implementation may produce alower spatial resolution image of the object of interest as compared tothe image 450 discussed above. However, this implementation may resultin a faster throughput.

A number of implementations have been described. Nevertheless, it willbe understood that various modifications may be made without departingfrom the scope of the disclosure. For example, multiple volumetricimages (such as the volumetric image 108) and/or multipletwo-dimensional radiographs (such as the two-dimensional radiograph 109)may be produced by the screening device 101. Each of the multiplevolumetric images and the two-dimensional radiographs may represent adifferent portion of the scan region 112. Accordingly, otherimplementations are within the scope of the following claims.

1. (canceled)
 2. An apparatus for generating an image of an object ofinterest, the apparatus comprising: a processor; and a computer-readablestorage medium storing instructions that, when executed, cause theprocessor to perform operations comprising: accessing a volumetric imageof a space, the space including an object of interest and anotherobject, the volumetric image comprising multiple regions with at leastone region representing the object of interest and at least one regionrepresenting the other object; accessing a two-dimensional radiographcomprising data representing the object of interest and datarepresenting the other object; identifying, in the volumetric image, aregion representing the object of interest; generating a de-objectifiedvolumetric image by disregarding the identified region; and removingfrom the two-dimensional radiograph a two-dimensional representation ofthe other object that is derived from the de-objectified volumetricimage to generate a two-dimensional image of the object of interest. 3.The apparatus of claim 2, further comprising a display module incommunication with the processor, the display module being configured tooutput the two-dimensional image of the object of interest.
 4. Theapparatus of claim 2, further comprising a sensor coupled to theprocessor, the sensor being configured to sense radiation passingthrough the object of interest and the other object, and to output datarepresenting the volumetric image of the space and data representing thetwo-dimensional radiograph.
 5. The apparatus of claim 4, wherein thesensor comprises a single detector.
 6. The apparatus of claim 4, whereinthe sensor comprises a plurality of detectors.
 7. The apparatus of claim2, wherein accessing a volumetric image of a space, the space includingan object of interest and another object, the volumetric imagecomprising multiple regions with at least one region representing theobject of interest and at least one region representing the other objectcomprises accessing a volumetric image of a space, the space includingan object of interest and another object, the volumetric imagecomprising multiple voxels with at least one voxel representing theobject of interest and at least one voxel representing the other object;wherein identifying, in the volumetric image, a region representing theobject of interest comprises identifying, in the volumetric image, oneor more voxels representing the object of interest; and whereingenerating a de-objectified volumetric image by disregarding theidentified region comprises generating a de-objectified volumetric imageby disregarding the identified one or more voxels.
 8. A non-transitorycomputer-readable medium storing software comprising instructionsexecutable by one or more processors which, upon such execution, causethe one or more processors to perform operations comprising: accessing avolumetric image of a space, the space including an object of interestand another object, the volumetric image comprising multiple regionswith at least one region representing the object of interest and atleast one region representing the other object; accessing atwo-dimensional radiograph comprising data representing the object ofinterest and data representing the other object; identifying, in thevolumetric image, a region representing the object of interest;generating a de-objectified volumetric image by disregarding theidentified region; and removing from the two-dimensional radiograph atwo-dimensional representation of the other object that is derived fromthe de-objectified volumetric image to generate a two-dimensional imageof the object of interest.
 9. The computer readable medium of claim 8,wherein the operations further comprise outputting to a display modulethe two-dimensional image of the object of interest.
 10. The computerreadable medium of claim 8, wherein the operations further comprise:sensing, by a sensor, radiation passing through the object of interestand the other object, and outputting data representing the volumetricimage of the space and data representing the two-dimensional radiograph.11. The computer-readable medium of claim 10, wherein the sensorcomprises a single detector.
 12. The computer-readable medium of claim10, wherein the sensor comprises a plurality of detectors.
 13. Thecomputer-readable medium of claim 8, wherein accessing a volumetricimage of a space, the space including an object of interest and anotherobject, the volumetric image comprising multiple regions with at leastone region representing the object of interest and at least one regionrepresenting the other object comprises accessing a volumetric image ofa space, the space including an object of interest and another object,the volumetric image comprising multiple voxels with at least one voxelrepresenting the object of interest and at least one voxel representingthe other object; wherein identifying, in the volumetric image, a regionrepresenting the object of interest comprises identifying, in thevolumetric image, one or more voxels representing the object ofinterest; and wherein generating a de-objectified volumetric image bydisregarding the identified region comprises generating a de-objectifiedvolumetric image by disregarding the identified one or more voxels. 14.A computer-implemented method of generating an image of an object ofinterest comprising: accessing, by one or more processors, a volumetricimage of a space, the space including an object of interest and anotherobject, the volumetric image comprising multiple regions with at leastone region representing the object of interest and at least one regionrepresenting the other object; accessing, by the one or more processors,a two-dimensional radiograph comprising data representing the object ofinterest and data representing the other object; identifying, by the oneor more processors, in the volumetric image, a region representing theobject of interest; generating, by the one or more processors, ade-objectified volumetric image by disregarding the identified region;and removing, by the one or more processors, from the two-dimensionalradiograph a two-dimensional representation of the other object that isderived from the de-objectified volumetric image to generate atwo-dimensional image of the object of interest.
 15. The method of claim14, further comprising outputting to a display module thetwo-dimensional image of the object of interest.
 16. The method of claim14, further comprising: sensing, by a sensor, radiation passing throughthe object of interest and the other object, and outputting datarepresenting the volumetric image of the space and data representing thetwo-dimensional radiograph.
 17. The method of claim 16, wherein thesensor comprises a single detector.
 18. The method of claim 16, whereinthe sensor comprises a plurality of detectors.
 19. The method of claim14, wherein accessing a volumetric image of a space, the space includingan object of interest and another object, the volumetric imagecomprising multiple regions with at least one region representing theobject of interest and at least one region representing the other objectcomprises accessing a volumetric image of a space, the space includingan object of interest and another object, the volumetric imagecomprising multiple voxels with at least one voxel representing theobject of interest and at least one voxel representing the other object;wherein identifying, in the volumetric image, a region representing theobject of interest comprises identifying, in the volumetric image, oneor more voxels representing the object of interest; and whereingenerating a de-objectified volumetric image by disregarding theidentified region comprises generating a de-objectified volumetric imageby disregarding the identified one or more voxels.